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US 10,478,149 B2Granted
Method of automatically positioning an X-ray source of an X-ray system and an X-ray system
AssigneeSiemens Healthcare GmbH
InventorsBirgi Tamersoy, Vivek Kumar Singh, Yao-jen Chang, Susanne Dornberger, Ralf Nanke, Terrence Chen
Life of this patent
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Abstract
A method and a system for automatically aligning a positionable X-ray source of an X-ray system in alignment with a mobile X-ray detector is disclosed where the X-ray system detects the position of the mobile X-ray detector using a 3D camera and then driving the positionable X-ray source to a position in alignment with the mobile X-ray detector.
Claims20
A method for determining the position of a mobile X-ray detector in an X-ray system, wherein the X-ray system is provided with a 3D camera, the method comprising:
- acquiring a digital 3D image of the mobile X-ray detector using the 3D camera, wherein the mobile X-ray detector has a X-ray receiving portion on a planar surface and a plurality of passive markers provided on the planar surface having the X-ray receiving portion;
- detecting the plurality of passive markers and the markers' pattern in the digital 3D image, wherein the pattern of the markers' defines the plane of the mobile X-ray detector having the X-ray receiving portion;
- estimating the plane of the mobile X-ray detector's X-ray receiving portion;
- estimating 6 DOF pose of the mobile X-ray detector, wherein the 6 DOF pose defines the position and orientation of the mobile X-ray detector in the 3D camera's coordinate system;
- and
- transforming the 6DOF pose of the mobile X-ray detector in the 3D camera's coordinate system into the corresponding position and orientation in the X-ray base coordinate system,
- wherein the mobile X-ray detector has four corners and the plurality of passive markers,
- are provided in a specific corner pattern at each of the four corners designating the particular corner,
- wherein detecting the plurality of passive markers and the marker's pattern in the digital 3D image comprises determining the specific corner patterns, and determining the mobile X-ray detector's orientation.
6 more elements
A method for automatically aligning a positionable X-ray source of an X-ray system in alignment with a mobile X-ray detector, wherein the X-ray system is equipped with a 3D camera having a field of view, the method comprising:
- manually positioning the mobile X-ray detector at a position to examine a region of interest on a patient, wherein the mobile X-ray detector has a X-ray receiving portion on a planar surface and a plurality of passive markers provided on the planar surface having the X-ray receiving portion;
- positioning the 3D camera so that the mobile X-ray detector is within the field of view of the 3D camera;
- automatically determining the position of the mobile X-ray detector using the 3D camera, wherein automatically determining the position of the mobile X-ray detector comprises:
- acquiring a digital 3D image of the mobile X-ray detector using the 3D camera, wherein the mobile X-ray detector has a X-ray receiving portion on a planar surface and a plurality of passive markers provided on the planar surface having the X-ray receiving portion;
- detecting the plurality of passive markers and the markers' pattern in the acquired digital 3D image, wherein the pattern of the passive markers' defines a plane of the mobile X-ray detector having the X-ray receiving portion;
- estimating the plane of the mobile X-ray detector's X-ray receiving portion;
- estimating 6 DOF pose of the mobile X-ray detector, wherein the 6 DOF pose defines the position of the mobile X-ray detector in the 3D camera's coordinate system;
- and
- transforming the 6DOF pose of the mobile X-ray detector in the 3D camera's coordinate system into a position in the X-ray base coordinate system which defines an aligned position;
- and
- automatically positioning the X-ray source to the aligned position by driving the X-ray tube robot system which brings the X-ray source in alignment with the mobile X-ray detector,
- wherein the mobile X-ray detector has four corners and the plurality of passive markers are provided in a specific corner pattern at each of the four corners designating the particular corner,
- wherein detecting the plurality of passive markers and the marker's pattern in the digital 3D image comprises determining the specific corner patterns, and determining the mobile X-ray detector's orientation.
10 more elements
A non-transitory computer readable medium storing computer program instructions for determining the position of a mobile X-ray detector in an X-ray system, wherein the X-ray system is provided with a 3D camera, the computer program instructions when executed by a processor cause the processor to perform operations comprising:
- acquiring a digital 3D image of the mobile X-ray detector using the 3D camera, wherein the mobile X-ray detector has a X-ray receiving portion on a planar surface and a plurality of passive markers provided on the planar surface having the X-ray receiving portion;
- detecting the plurality of passive markers and the markers' pattern in the digital 3D image, wherein the pattern of the markers' defines the plane of the mobile X-ray detector having the X-ray receiving portion;
- estimating the plane of the mobile X-ray detector's X-ray receiving portion;
- estimating 6 DOF pose of the mobile X-ray detector, wherein the 6 DOF pose defines the position of the mobile X-ray detector in the 3D camera's coordinate system;
- and
- transforming the 6 DOF pose of the mobile X-ray detector in the 3D camera's coordinate system into a position in the X-ray base coordinate system,
- wherein the mobile X-ray detector has four corners and the plurality of passive markers are provided in a specific corner pattern at each of the four corners designating the particular corner,
- wherein detecting the plurality of passive markers and the marker's pattern in the digital 3D image comprises determining the specific corner patterns, and determining the mobile X-ray detector's orientation.
5 more elements
A non-transitory computer readable medium storing computer program instructions for automatically aligning a positionable X-ray source of an X-ray system in alignment with a mobile X-ray detector, wherein the X-ray system is equipped with a 3D camera having a field of view, the method comprising:
- manually positioning the mobile X-ray detector at a position to examine a region of interest on a patient, wherein the mobile X-ray detector has a X-ray receiving portion on a planar surface and a plurality of passive markers provided on the planar surface having the X-ray receiving portion;
- positioning the 3D camera so that the mobile X-ray detector is within the field of view of the 3D camera;
- automatically determining the position of the mobile X-ray detector using the 3D camera, wherein automatically determining the position of the mobile X-ray detector comprises:
- acquiring a digital 3D image of the mobile X-ray detector using the 3D camera, wherein the mobile X-ray detector has a X-ray receiving portion on a planar surface and a plurality of passive markers provided on the planar surface having the X-ray receiving portion;
- detecting the plurality of passive markers and the markers' pattern in the acquired digital 3D image, wherein the pattern of the passive markers' defines a plane of the mobile X-ray detector having the X-ray receiving portion;
- estimating the plane of the mobile X-ray detector's X-ray receiving portion;
- estimating 6 DOF pose of the mobile X-ray detector, wherein the 6 DOF pose defines the position of the mobile X-ray detector in the 3D camera's coordinate system;
- and
- transforming the 6 DOF pose of the mobile X-ray detector in the 3D camera's coordinate system into a position in the X-ray base coordinate system which defines an aligned position;
- and
- automatically positioning the X-ray source to the aligned position by driving the X-ray tube robot system which brings the X-ray source in alignment with the mobile X-ray detector,
- wherein the mobile X-ray detector has four corners and the plurality of passive markers are provided in a specific corner pattern at each of the four corners designating the particular corner,
- wherein detecting the plurality of passive markers and the marker's pattern in the digital 3D image comprises determining the specific corner patterns, and determining the mobile X-ray detector's orientation.
10 more elements
Dependencies are inferred from the claim text.